ZED Camera ROS wrapper on CPU

Description

ROS wrapper for Stereolabs cameras (ZED 2, ZED 2i, and ZED Mini) dedicatet for CPU. Based on Stereolabs zed-open-capture repository. Repository delivers only video capture and IMU data. For more advanced data, please refer to the original repository from Stereolabs zed-ros-wrapper

Build

Prerequisites

• Stereo camera: ZED 2i, ZED 2, ZED Mini
• Linux OS
• ROS Noetic
• GCC (v7.5+)
• OpenCV (v3.4.0+)

Clone the repository

mkdir -p ros_ws/src
cd ros_ws
git clone https://github.com/husarion/zed-cpu.git src/zed-cpu

Install prerequisites

• Install HIDAPI and LIBUSB libraries:

sudo apt install libusb-1.0-0-dev libhidapi-libusb0 libhidapi-dev

• Install OpenCV:

sudo apt install libopencv-dev libopencv-viz-dev

• Install ROS dependencies:

rosdep install --from-paths src --ignore-src -r -y

Add udev rule

Stereo cameras such as ZED 2 and ZED Mini have built-in sensors (e.g. IMU) that are identified as USB HID devices. To be able to access the USB HID device, you must add a udev rule contained in the udev folder:

cd src/zed-cpu/udev
bash install_udev_rule.sh

Build code

cd ~/ros_ws
catkin_make

Run code

source ~/ros_ws/devel/setup.bash
roslaunch zed_cpu zed.launch

Coordinates system

The given IMU and Magnetometer data are expressed in the RAW coordinate system as show below